float64 leg_motor_p_gain
float64 leg_motor_d_gain
float64 hip_motor_p_gain
float64 hip_motor_d_gain
float64 des_motor_ang_left_A
float64 des_motor_ang_left_B
float64 des_motor_ang_left_hip
float64 des_motor_ang_right_A
float64 des_motor_ang_right_B
float64 des_motor_ang_right_hip
